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DMP use std::array 

Signed-off-by: James Cherry <cherry@parallaxsw.com>
This commit is contained in:
James Cherry 2026-04-04 09:21:01 -07:00
parent fe23c4530f
commit aedddcecd8
1 changed files with 7 additions and 10 deletions
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17
dcalc/DmpCeff.cc
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@ -33,6 +33,7 @@
#include "DmpCeff.hh"
#include <algorithm>
#include <array>
#include <cmath>
#include <optional>
#include <string_view>
@ -201,13 +202,12 @@ protected:
static constexpr int max_nr_order_ = 3;
double x_[max_nr_order_];
double fvec_[max_nr_order_];
double fjac_storage_[max_nr_order_ * max_nr_order_];
double *fjac_[max_nr_order_];
double scale_[max_nr_order_];
double p_[max_nr_order_];
int index_[max_nr_order_];
std::array<double, max_nr_order_> x_;
std::array<double, max_nr_order_> fvec_;
std::array<std::array<double, max_nr_order_>, max_nr_order_> fjac_;
std::array<double, max_nr_order_> scale_;
std::array<double, max_nr_order_> p_;
std::array<int, max_nr_order_> index_;
// Driver slew used to check load delay.
double drvr_slew_;
@ -237,9 +237,6 @@ DmpAlg::DmpAlg(int nr_order,
c1_(0.0),
nr_order_(nr_order)
{
for (int i = 0; i < nr_order_; i++)
// Only use the upper left block of the matrix
fjac_[i] = fjac_storage_ + i * max_nr_order_;
}
void